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   <div id="projectname">Firmata firmware for Arduino
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   <div id="projectbrief">Firmata is a protocol for communicating with microcontrollers from software on a host computer</div>
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<div class="title">FirmataConstants.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">  FirmataConstants.h</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">  Copyright (c) 2006-2008 Hans-Christoph Steiner.  All rights reserved.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">  Copyright (C) 2009-2017 Jeff Hoefs.  All rights reserved.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">  This library is free software; you can redistribute it and/or</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">  modify it under the terms of the GNU Lesser General Public</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">  License as published by the Free Software Foundation; either</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">  version 2.1 of the License, or (at your option) any later version.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">  See file LICENSE.txt for further informations on licensing terms.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#ifndef FirmataConstants_h</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#define FirmataConstants_h</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">namespace </span>firmata {</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">/* Version numbers for the Firmata library.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * The firmware version will not always equal the protocol version going forward.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * Query using the REPORT_FIRMWARE message.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> FIRMWARE_MAJOR_VERSION =  2;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> FIRMWARE_MINOR_VERSION =  5;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> FIRMWARE_BUGFIX_VERSION = 7;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">/* Version numbers for the protocol.  The protocol is still changing, so these</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * version numbers are important.</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * Query using the REPORT_VERSION message.</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PROTOCOL_MAJOR_VERSION =  2; <span class="comment">// for non-compatible changes</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PROTOCOL_MINOR_VERSION =  5; <span class="comment">// for backwards compatible changes</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PROTOCOL_BUGFIX_VERSION = 1; <span class="comment">// for bugfix releases</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160; </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> MAX_DATA_BYTES =          64; <span class="comment">// max number of data bytes in incoming messages</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">// message command bytes (128-255/0x80-0xFF)</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> DIGITAL_MESSAGE =         0x90; <span class="comment">// send data for a digital port (collection of 8 pins)</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> ANALOG_MESSAGE =          0xE0; <span class="comment">// send data for an analog pin (or PWM)</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> REPORT_ANALOG =           0xC0; <span class="comment">// enable analog input by pin #</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> REPORT_DIGITAL =          0xD0; <span class="comment">// enable digital input by port pair</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SET_PIN_MODE =            0xF4; <span class="comment">// set a pin to INPUT/OUTPUT/PWM/etc</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SET_DIGITAL_PIN_VALUE =   0xF5; <span class="comment">// set value of an individual digital pin</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> REPORT_VERSION =          0xF9; <span class="comment">// report protocol version</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SYSTEM_RESET =            0xFF; <span class="comment">// reset from MIDI</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> START_SYSEX =             0xF0; <span class="comment">// start a MIDI Sysex message</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> END_SYSEX =               0xF7; <span class="comment">// end a MIDI Sysex message</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">// extended command set using sysex (0-127/0x00-0x7F)</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="comment">/* 0x00-0x0F reserved for user-defined commands */</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SERIAL_DATA =             0x60; <span class="comment">// communicate with serial devices, including other boards</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> ENCODER_DATA =            0x61; <span class="comment">// reply with encoders current positions</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SERVO_CONFIG =            0x70; <span class="comment">// set max angle, minPulse, maxPulse, freq</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> STRING_DATA =             0x71; <span class="comment">// a string message with 14-bits per char</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> STEPPER_DATA =            0x72; <span class="comment">// control a stepper motor</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> ONEWIRE_DATA =            0x73; <span class="comment">// send an OneWire read/write/reset/select/skip/search request</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SHIFT_DATA =              0x75; <span class="comment">// a bitstream to/from a shift register</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> I2C_REQUEST =             0x76; <span class="comment">// send an I2C read/write request</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> I2C_REPLY =               0x77; <span class="comment">// a reply to an I2C read request</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> I2C_CONFIG =              0x78; <span class="comment">// config I2C settings such as delay times and power pins</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> REPORT_FIRMWARE =         0x79; <span class="comment">// report name and version of the firmware</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> EXTENDED_ANALOG =         0x6F; <span class="comment">// analog write (PWM, Servo, etc) to any pin</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_STATE_QUERY =         0x6D; <span class="comment">// ask for a pin&#39;s current mode and value</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_STATE_RESPONSE =      0x6E; <span class="comment">// reply with pin&#39;s current mode and value</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> CAPABILITY_QUERY =        0x6B; <span class="comment">// ask for supported modes and resolution of all pins</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> CAPABILITY_RESPONSE =     0x6C; <span class="comment">// reply with supported modes and resolution</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> ANALOG_MAPPING_QUERY =    0x69; <span class="comment">// ask for mapping of analog to pin numbers</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> ANALOG_MAPPING_RESPONSE = 0x6A; <span class="comment">// reply with mapping info</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SAMPLING_INTERVAL =       0x7A; <span class="comment">// set the poll rate of the main loop</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SCHEDULER_DATA =          0x7B; <span class="comment">// send a createtask/deletetask/addtotask/schedule/querytasks/querytask request to the scheduler</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SYSEX_NON_REALTIME =      0x7E; <span class="comment">// MIDI Reserved for non-realtime messages</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> SYSEX_REALTIME =          0x7F; <span class="comment">// MIDI Reserved for realtime messages</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="comment">// pin modes</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_INPUT =          0x00; <span class="comment">// same as INPUT defined in Arduino.h</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_OUTPUT =         0x01; <span class="comment">// same as OUTPUT defined in Arduino.h</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_ANALOG =         0x02; <span class="comment">// analog pin in analogInput mode</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_PWM =            0x03; <span class="comment">// digital pin in PWM output mode</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_SERVO =          0x04; <span class="comment">// digital pin in Servo output mode</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_SHIFT =          0x05; <span class="comment">// shiftIn/shiftOut mode</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_I2C =            0x06; <span class="comment">// pin included in I2C setup</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_ONEWIRE =        0x07; <span class="comment">// pin configured for 1-wire</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_STEPPER =        0x08; <span class="comment">// pin configured for stepper motor</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_ENCODER =        0x09; <span class="comment">// pin configured for rotary encoders</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_SERIAL =         0x0A; <span class="comment">// pin configured for serial communication</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_PULLUP =         0x0B; <span class="comment">// enable internal pull-up resistor for pin</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> PIN_MODE_IGNORE =         0x7F; <span class="comment">// pin configured to be ignored by digitalWrite and capabilityResponse</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> TOTAL_PIN_MODES =         13;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;} <span class="comment">// namespace firmata</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="preprocessor">#endif // FirmataConstants_h</span></div>
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